Method of Chattering Elimination in Sliding Mode Tracking Control of Robotic Manipulators

摘要

The reaching law was used to resolve the problem of chattering effectively in sliding mode tracking control of robotic manipulators.A novel reaching law was proposed by referencing saturation function based on normal reaching law.Furthermore,the correlative sliding mode control scheme was designed.The novel sliding mode control was then used for the tracking of robotic manipulators and its performance was validated.The simulation results show that the scheme can not only control the chattering effectively but also achieve a fast and accurate tracking,which is of better reaching and astringency performances.